version: 66.13
glider: 196
mission: 14
dive: 260
start: 9 6 117 3 28 6
data:
$ID,196
$MISSION,14
$DIVE,260
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,480
$D_ABORT,650
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,160
$T_MISSION,195
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,55566
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,702.78448
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.29706
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,135
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043055275
$SEABIRD_T_H,0.00061896152
$SEABIRD_T_I,2.1649632e-05
$SEABIRD_T_J,2.1628491e-06
$SEABIRD_C_G,-9.8804169
$SEABIRD_C_H,1.1388741
$SEABIRD_C_I,-0.0017082796
$SEABIRD_C_J,0.00021409935
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,729.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,060917,032143,7507.0518,-15148.3418,15,0.7,19,20.4,0.4,346.3,12,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-76.7
$GPS2,060917,032736,7507.0918,-15148.3408,6,0.8,19,20.4,0.6,332.0,11,9.5
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,5.7,68881,-17.9,-10.000,-21.31,2227
$D_GRID,480
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,64,end surface,CONTROL_FINISHED_OK
$STATE,64,begin dive
$GC,67,-0.57,-145.9,195,2229,508,479,0.0,0.0,0,160,0.00,0.00,-91.75,0.000,16386,0.000,0.000,196,2229,2170,2102,2239,0,0,0,0,0,0,14.61,28.83,14.63
$GC,163,-0.57,-145.9,196,2229,2109,2240,3.9,-5.2,9,216,12.82,2.70,-34.10,0.000,18724,0.457,2.142,2375,3586,3962,3945,3980,0,0,0,0,0,0,13.63,12.88,14.15
$GC,357,-0.73,-145.9,2375,3587,3951,3981,43.7,-13.1,47,361,0.00,2.30,0.00,0.000,1158,0.000,0.059,2374,2228,3964,3949,3980,0,0,0,0,0,0,14.38,14.26,14.43
$GC,667,-0.84,-145.9,2375,2227,3954,3980,84.8,-10.8,79,668,0.20,0.00,0.00,0.000,4230,0.112,0.000,2293,2227,3966,3952,3980,0,0,0,0,0,0,14.38,14.50,14.46
$GC,977,-0.86,-145.9,2294,2227,3953,3980,132.5,-14.5,96,982,0.00,2.38,0.00,0.000,388,0.000,0.087,2284,3588,3966,3952,3980,0,0,0,0,0,0,14.78,14.26,14.81
$GC,1038,-0.97,-145.9,2284,3589,3953,3981,140.5,-12.0,108,1043,0.00,2.35,0.00,0.000,1158,0.000,0.059,2284,2193,3966,3952,3980,0,0,0,0,0,0,14.45,14.33,14.49
$GC,1368,-1.01,-145.9,2284,2193,3953,3981,185.1,-13.1,124,1374,0.00,2.45,0.00,0.000,388,0.000,0.088,2280,3595,3966,3952,3980,0,0,0,0,0,0,14.83,14.26,14.83
$GC,1429,-1.15,-145.9,2280,3597,3953,3980,192.6,-11.3,136,1435,0.22,2.35,0.00,0.000,5254,0.099,0.057,2193,2193,3966,3952,3980,0,0,0,0,0,0,14.40,14.33,14.49
$GC,1760,-1.03,-145.9,2194,2192,3953,3981,260.7,-20.0,152,1766,0.20,2.45,0.00,0.000,2436,0.295,0.084,2231,3596,3966,3952,3981,0,0,0,0,0,0,13.93,14.26,14.13
$GC,1933,-1.10,-145.9,2231,3598,3952,3981,284.3,-12.2,183,1938,0.00,2.38,0.00,0.000,1158,0.000,0.057,2231,2194,3966,3952,3980,0,0,0,0,0,0,14.34,14.21,14.38
$GC,2258,-1.10,-145.9,2231,2193,3952,3980,326.6,-12.7,198,2263,0.00,2.47,0.00,0.000,260,0.000,0.088,2223,3589,3966,3952,3980,0,0,0,0,0,0,14.60,14.09,14.62
$GC,2323,-1.17,-145.9,2223,3591,3952,3981,334.6,-11.6,211,2329,0.00,2.38,0.00,0.000,1158,0.000,0.057,2223,2193,3966,3952,3980,0,0,0,0,0,0,14.28,14.15,14.32
$GC,2649,-1.17,-145.9,2223,2192,3953,3980,375.2,-12.4,226,2653,0.00,2.47,0.00,0.000,260,0.000,0.089,2222,3588,3965,3951,3980,0,0,0,0,0,0,14.57,14.06,14.59
$GC,2709,-1.25,-145.9,2223,3588,3953,3979,382.3,-11.2,238,2714,0.15,2.35,0.00,0.000,5254,0.123,0.055,2162,2201,3965,3952,3979,0,0,0,0,0,0,14.17,14.14,14.27
$GC,3039,-1.13,-145.9,2163,2200,3952,3979,440.8,-17.9,254,3044,0.20,2.47,0.00,0.000,2436,0.309,0.083,2196,3597,3965,3951,3979,0,0,0,0,0,0,13.69,14.04,13.90
$GC,3151,-1.16,-145.9,2198,3597,3952,3979,456.4,-13.1,276,3156,0.00,2.38,0.00,0.000,1158,0.000,0.055,2196,2199,3965,3951,3979,0,0,0,0,0,0,14.24,14.12,14.29
$STATE,3339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3339,begin apogee
$GC,3345,-0.13,0.0,2196,2055,3952,3980,483.5,-14.2,284,3583,1.33,0.00,234.35,1.413,10246,0.242,0.000,2527,2053,3363,3385,3342,0,0,0,0,0,0,13.76,13.43,12.62
$STATE,3584,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3587,0.57,145.9,2528,2053,3379,3334,496.7,0.0,292,3811,0.75,2.58,212.70,1.349,10756,0.062,0.080,2781,730,2760,2805,2716,0,0,0,0,0,0,13.53,13.04,12.26
$GC,3867,0.19,145.9,2782,730,2795,2707,500.8,13.2,347,3873,0.68,2.53,0.00,0.000,5254,0.317,0.074,2647,2083,2749,2794,2705,0,0,0,0,0,0,13.01,13.30,13.35
$GC,4195,0.03,160.2,2647,2084,2794,2700,469.7,9.3,362,4209,0.22,0.00,11.82,1.558,12454,0.273,0.000,2598,2082,2714,2762,2667,0,0,0,0,0,0,13.65,13.90,13.00
$GC,4495,0.01,214.4,2597,2084,2753,2654,447.0,7.5,372,4588,0.00,2.50,84.75,1.360,8868,0.000,0.083,2598,727,2488,2549,2427,0,0,0,0,0,0,14.43,13.86,13.05
$GC,4623,0.07,244.0,2603,728,2537,2417,436.5,8.6,397,4673,0.00,2.45,43.22,1.375,9382,0.000,0.079,2602,2100,2366,2425,2307,0,0,0,0,0,0,14.03,13.89,12.91
$GC,4980,0.11,263.8,2602,2102,2407,2289,404.0,9.1,418,5009,0.00,0.00,25.10,1.416,8358,0.000,0.000,2602,2101,2286,2343,2230,0,0,0,0,0,0,14.50,14.06,13.19
$GC,5308,0.15,283.3,2602,2101,2333,2216,373.9,9.1,429,5340,0.00,2.50,27.08,1.413,8868,0.000,0.085,2602,724,2208,2264,2153,0,0,0,0,0,0,14.59,14.09,13.23
$GC,5386,0.28,308.9,2602,725,2251,2148,367.1,8.8,444,5434,0.22,2.40,39.83,1.361,11430,0.092,0.078,2690,2109,2100,2151,2049,0,0,0,0,0,0,14.26,14.16,13.17
$GC,5732,0.19,308.9,2690,2109,2138,2032,315.3,15.1,463,5737,0.17,2.42,0.00,0.000,4740,0.249,0.081,2655,724,2084,2137,2031,0,0,0,0,0,0,13.92,14.07,14.06
$GC,5803,0.22,308.9,2655,724,2135,2031,306.3,11.3,477,5808,0.00,2.38,0.00,0.000,1158,0.000,0.078,2655,2099,2082,2134,2031,0,0,0,0,0,0,14.35,14.22,14.40
$GC,6123,0.22,308.9,2655,2100,2135,2030,269.6,11.2,491,6128,0.00,2.40,0.00,0.000,516,0.000,0.084,2655,730,2081,2134,2029,0,0,0,0,0,0,14.65,14.17,14.68
$GC,6184,0.27,318.6,2654,730,2134,2030,263.5,9.6,503,6194,0.00,2.40,2.30,0.565,9382,0.000,0.077,2655,2100,2065,2116,2014,0,0,0,0,0,0,14.33,14.19,12.82
$GC,6514,0.27,328.4,2655,2100,2130,2024,231.5,9.5,519,6545,0.00,0.00,25.25,1.375,8230,0.000,0.000,2655,2100,2020,2070,1970,0,0,0,0,0,0,14.67,13.92,13.32
$GC,6844,0.32,358.7,2656,2100,2061,1960,201.8,8.6,530,6905,0.00,2.50,50.80,1.290,8868,0.000,0.085,2655,727,1895,1933,1858,0,0,0,0,0,0,14.64,14.02,13.23
$GC,6957,0.45,403.3,2656,728,1921,1857,192.6,7.9,552,7041,0.22,2.42,77.78,1.213,11430,0.096,0.079,2745,2111,1724,1751,1697,0,0,0,0,0,0,14.17,14.10,13.10
$GC,7357,0.38,403.3,2746,2112,1737,1673,136.6,13.8,582,7362,0.15,2.42,0.00,0.000,4740,0.233,0.083,2713,727,1702,1732,1672,0,0,0,0,0,0,14.00,14.16,14.14
$GC,7432,0.44,403.3,2713,728,1732,1673,128.3,10.2,597,7438,0.00,2.40,0.00,0.000,1158,0.000,0.077,2713,2108,1701,1731,1671,0,0,0,0,0,0,14.33,14.20,14.38
$GC,7738,0.45,417.8,2713,2109,1732,1667,98.0,9.3,611,7749,0.00,2.50,6.15,0.410,8740,0.000,0.084,2712,729,1663,1696,1630,0,0,0,0,0,0,14.59,14.16,13.56
$GC,7805,0.54,452.3,2713,731,1704,1638,92.2,8.4,624,7833,0.12,2.40,21.75,0.463,11430,0.131,0.078,2769,2101,1518,1547,1490,0,0,0,0,0,0,14.23,14.17,13.60
$GC,8130,0.54,502.1,2770,2102,1564,1497,56.5,7.7,659,8162,0.00,0.00,29.73,0.360,8358,0.000,0.000,2770,2101,1316,1363,1269,0,0,0,0,0,0,14.59,14.09,13.67
$GC,8460,0.64,584.3,2769,2102,1366,1277,33.1,6.2,692,8514,0.00,2.50,47.17,0.293,8868,0.000,0.086,2772,728,983,1052,914,0,0,0,0,0,0,14.59,14.02,13.74
$GC,8566,0.85,649.2,2772,729,1053,924,26.0,7.0,712,8613,0.25,2.40,40.62,0.269,11430,0.091,0.078,2871,2097,715,776,654,0,0,0,0,0,0,14.24,14.13,13.76
$STATE,8786,end climb,SURFACE_DEPTH_REACHED
$STATE,8786,begin surface coast
$FINISH,0.1,1.021316
$STATE,8796,end surface coast,CONTROL_FINISHED_OK
$STATE,8796,begin surface
$SM_CCo,8817,30.98,0.209,0,0,499,702.78
$SM_GC,1.50,8.23,0.17,30.98,0.074,0.112,0.209,197,2228,499,-7.39,-0.76,702.78,0,0,0,0,0,0,14.30,14.31,13.95
$RAFOS_CLK,328
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7507.00,-15148.76,060917,004103
$TT8_MAMPS,0.038948,0.996919
$HUMID,46.49
$INTERNAL_PRESSURE,7.74246
$TCM_TEMP,13.10
$XPDR_PINGS,15
$CP_FREE,15961325568.000000
$PM_FREEKB_00,50274688
$24V_AH,12.26,167.351
$10V_AH,12.32,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.150,78.325,980.400,30.975,0.000,0.000,0.000,150.625,3.750,0.000,20.327,0.000,6256.322,1015.603,1710.422,228.554,0.000,1874.014,0.000,1059.522,2215.000,0.540,0.000
$DEVICE_MAMPS,457.470,2142.000,1558.305,208.845,0.000,0.000,0.000,135.405,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5217.000,5276.000,8752.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.341,20.000,9.908,0.000
$MEM,323612
$DATA_FILE_SIZE,26693,740
$CAP_FILE_SIZE,97618,0
$CFSIZE,2097872896,2010546176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5385.79,0x2341e8,1,24
$SOUNDSPEED,1446.9
$CURRENT,0.047,310.19,1
$GPS,060917,055657,7508.243,-15145.863,37,0.8,38,20.4,0.0,0.0,10,8.0